00001 /********************************************************************* 00002 * Software License Agreement (BSD License) 00003 * 00004 * Copyright (c) 2008, Willow Garage, Inc. 00005 * All rights reserved. 00006 * 00007 * Redistribution and use in source and binary forms, with or without 00008 * modification, are permitted provided that the following conditions 00009 * are met: 00010 * 00011 * * Redistributions of source code must retain the above copyright 00012 * notice, this list of conditions and the following disclaimer. 00013 * * Redistributions in binary form must reproduce the above 00014 * copyright notice, this list of conditions and the following 00015 * disclaimer in the documentation and/or other materials provided 00016 * with the distribution. 00017 * * Neither the name of Willow Garage, Inc. nor the names of its 00018 * contributors may be used to endorse or promote products derived 00019 * from this software without specific prior written permission. 00020 * 00021 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 00022 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 00023 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS 00024 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE 00025 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 00026 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 00027 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 00028 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 00029 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 00030 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 00031 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00032 * POSSIBILITY OF SUCH DAMAGE. 00033 *********************************************************************/ 00034 00037 #include <ompl_ros_interface/state_validity_checkers/ompl_ros_joint_state_validity_checker.h> 00038 00039 namespace ompl_ros_interface 00040 { 00041 00042 bool OmplRosJointStateValidityChecker::isValid(const ompl::base::State *ompl_state) const 00043 { 00044 //ros::WallTime n1 = ros::WallTime::now(); 00045 ompl_ros_interface::omplStateToKinematicStateGroup(ompl_state, 00046 ompl_state_to_kinematic_state_mapping_, 00047 joint_state_group_); 00048 std::vector<planning_models::KinematicState::JointState*> joint_states = joint_state_group_->getJointStateVector(); 00049 for(unsigned int i=0; i < joint_states.size(); i++) 00050 { 00051 if(!joint_states[i]->areJointStateValuesWithinBounds()) 00052 { 00053 ROS_ERROR("State violates joint limits for Joint %s",joint_states[i]->getName().c_str()); 00054 return false; 00055 } 00056 } 00057 00058 if(!path_constraint_evaluator_set_.decide(kinematic_state_, false)) 00059 { 00060 ROS_DEBUG("Path constraints violated"); 00061 return false; 00062 } 00063 00064 joint_state_group_->updateKinematicLinks(); 00065 //ros::WallTime n2 = ros::WallTime::now(); 00066 if(collision_models_interface_->isKinematicStateInCollision(*kinematic_state_)) 00067 { 00068 ROS_DEBUG("State is in collision"); 00069 //ROS_INFO_STREAM("Positive collision check took " << (ros::WallTime::now()-n2).toSec()); 00070 return false; 00071 } 00072 //ROS_INFO_STREAM("Negative collision check took " << (ros::WallTime::now()-n2).toSec()); 00073 return true; 00074 } 00075 00076 bool OmplRosJointStateValidityChecker::isStateValid(const ompl::base::State *ompl_state) 00077 { 00078 ompl_ros_interface::omplStateToKinematicStateGroup(ompl_state, 00079 ompl_state_to_kinematic_state_mapping_, 00080 joint_state_group_); 00081 std::vector<planning_models::KinematicState::JointState*> joint_states = joint_state_group_->getJointStateVector(); 00082 for(unsigned int i=0; i < joint_states.size(); i++) 00083 { 00084 if(!joint_states[i]->areJointStateValuesWithinBounds()) 00085 { 00086 ROS_ERROR("State violates joint limits for Joint %s",joint_states[i]->getName().c_str()); 00087 error_code_.val = error_code_.JOINT_LIMITS_VIOLATED; 00088 return false; 00089 } 00090 } 00091 00092 if(!path_constraint_evaluator_set_.decide(kinematic_state_, false)) 00093 { 00094 ROS_DEBUG("Path constraints violated"); 00095 error_code_.val = error_code_.PATH_CONSTRAINTS_VIOLATED; 00096 return false; 00097 } 00098 00099 joint_state_group_->updateKinematicLinks(); 00100 if(collision_models_interface_->isKinematicStateInCollision(*kinematic_state_)) 00101 { 00102 ROS_DEBUG("State is in collision"); 00103 error_code_.val = error_code_.COLLISION_CONSTRAINTS_VIOLATED; 00104 return false; 00105 } 00106 ROS_DEBUG("State is ok"); 00107 return true; 00108 } 00109 00110 }